From 9b752f5d2abc391544f1c834d68283d72a3fe9bb Mon Sep 17 00:00:00 2001 From: Andrew Tridgell <tridge@samba.org> Date: Sat, 4 May 2013 14:41:40 +1000 Subject: [PATCH] PX4: added in remaining example mixers --- mk/PX4/ROMFS/mixers/FMU_AERT.mix | 64 ++++++++++++++++++++++++++++++ mk/PX4/ROMFS/mixers/FMU_AET.mix | 60 ++++++++++++++++++++++++++++ mk/PX4/ROMFS/mixers/FMU_Q.mix | 52 ++++++++++++++++++++++++ mk/PX4/ROMFS/mixers/FMU_RET.mix | 53 +++++++++++++++++++++++++ mk/PX4/ROMFS/mixers/FMU_X5.mix | 50 +++++++++++++++++++++++ mk/PX4/ROMFS/mixers/FMU_delta.mix | 50 +++++++++++++++++++++++ mk/PX4/ROMFS/mixers/FMU_hex_+.mix | 7 ++++ mk/PX4/ROMFS/mixers/FMU_hex_x.mix | 7 ++++ mk/PX4/ROMFS/mixers/FMU_octo_+.mix | 7 ++++ mk/PX4/ROMFS/mixers/FMU_octo_x.mix | 7 ++++ mk/PX4/ROMFS/mixers/FMU_quad_+.mix | 7 ++++ mk/PX4/ROMFS/mixers/FMU_quad_v.mix | 7 ++++ mk/PX4/ROMFS/mixers/FMU_quad_x.mix | 7 ++++ 13 files changed, 378 insertions(+) create mode 100644 mk/PX4/ROMFS/mixers/FMU_AERT.mix create mode 100644 mk/PX4/ROMFS/mixers/FMU_AET.mix create mode 100644 mk/PX4/ROMFS/mixers/FMU_Q.mix create mode 100644 mk/PX4/ROMFS/mixers/FMU_RET.mix create mode 100644 mk/PX4/ROMFS/mixers/FMU_X5.mix create mode 100644 mk/PX4/ROMFS/mixers/FMU_delta.mix create mode 100644 mk/PX4/ROMFS/mixers/FMU_hex_+.mix create mode 100644 mk/PX4/ROMFS/mixers/FMU_hex_x.mix create mode 100644 mk/PX4/ROMFS/mixers/FMU_octo_+.mix create mode 100644 mk/PX4/ROMFS/mixers/FMU_octo_x.mix create mode 100644 mk/PX4/ROMFS/mixers/FMU_quad_+.mix create mode 100644 mk/PX4/ROMFS/mixers/FMU_quad_v.mix create mode 100644 mk/PX4/ROMFS/mixers/FMU_quad_x.mix diff --git a/mk/PX4/ROMFS/mixers/FMU_AERT.mix b/mk/PX4/ROMFS/mixers/FMU_AERT.mix new file mode 100644 index 000000000..75e82bb00 --- /dev/null +++ b/mk/PX4/ROMFS/mixers/FMU_AERT.mix @@ -0,0 +1,64 @@ +Aileron/rudder/elevator/throttle mixer for PX4FMU +================================================== + +This file defines mixers suitable for controlling a fixed wing aircraft with +aileron, rudder, elevator and throttle controls using PX4FMU. The configuration +assumes the aileron servo(s) are connected to PX4FMU servo output 0, the +elevator to output 1, the rudder to output 2 and the throttle to output 3. + +Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0 +(roll), 1 (pitch) and 3 (thrust). + +Aileron mixer +------------- +Two scalers total (output, roll). + +This mixer assumes that the aileron servos are set up correctly mechanically; +depending on the actual configuration it may be necessary to reverse the scaling +factors (to reverse the servo movement) and adjust the offset, scaling and +endpoints to suit. + +As there is only one output, if using two servos adjustments to compensate for +differences between the servos must be made mechanically. To obtain the correct +motion using a Y cable, the servos can be positioned reversed from one another. + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 0 10000 10000 0 -10000 10000 + +Elevator mixer +------------ +Two scalers total (output, roll). + +This mixer assumes that the elevator servo is set up correctly mechanically; +depending on the actual configuration it may be necessary to reverse the scaling +factors (to reverse the servo movement) and adjust the offset, scaling and +endpoints to suit. + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 1 -10000 -10000 0 -10000 10000 + +Rudder mixer +------------ +Two scalers total (output, yaw). + +This mixer assumes that the rudder servo is set up correctly mechanically; +depending on the actual configuration it may be necessary to reverse the scaling +factors (to reverse the servo movement) and adjust the offset, scaling and +endpoints to suit. + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 2 10000 10000 0 -10000 10000 + +Motor speed mixer +----------------- +Two scalers total (output, thrust). + +This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1) +range. Inputs below zero are treated as zero. + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 3 0 20000 -10000 -10000 10000 diff --git a/mk/PX4/ROMFS/mixers/FMU_AET.mix b/mk/PX4/ROMFS/mixers/FMU_AET.mix new file mode 100644 index 000000000..20cb88b91 --- /dev/null +++ b/mk/PX4/ROMFS/mixers/FMU_AET.mix @@ -0,0 +1,60 @@ +Aileron/elevator/throttle mixer for PX4FMU +================================================== + +This file defines mixers suitable for controlling a fixed wing aircraft with +aileron, elevator and throttle controls using PX4FMU. The configuration assumes +the aileron servo(s) are connected to PX4FMU servo output 0, the elevator to +output 1 and the throttle to output 3. + +Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0 +(roll), 1 (pitch) and 3 (thrust). + +Aileron mixer +------------- +Two scalers total (output, roll). + +This mixer assumes that the aileron servos are set up correctly mechanically; +depending on the actual configuration it may be necessary to reverse the scaling +factors (to reverse the servo movement) and adjust the offset, scaling and +endpoints to suit. + +As there is only one output, if using two servos adjustments to compensate for +differences between the servos must be made mechanically. To obtain the correct +motion using a Y cable, the servos can be positioned reversed from one another. + +Alternatively, output 2 could be used as a second aileron servo output with +separate mixing. + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 0 10000 10000 0 -10000 10000 + +Elevator mixer +------------ +Two scalers total (output, roll). + +This mixer assumes that the elevator servo is set up correctly mechanically; +depending on the actual configuration it may be necessary to reverse the scaling +factors (to reverse the servo movement) and adjust the offset, scaling and +endpoints to suit. + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 1 -10000 -10000 0 -10000 10000 + +Output 2 +-------- +This mixer is empty. + +Z: + +Motor speed mixer +----------------- +Two scalers total (output, thrust). + +This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1) +range. Inputs below zero are treated as zero. + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 3 0 20000 -10000 -10000 10000 diff --git a/mk/PX4/ROMFS/mixers/FMU_Q.mix b/mk/PX4/ROMFS/mixers/FMU_Q.mix new file mode 100644 index 000000000..ebcb66b24 --- /dev/null +++ b/mk/PX4/ROMFS/mixers/FMU_Q.mix @@ -0,0 +1,52 @@ +Delta-wing mixer for PX4FMU +=========================== + +Designed for Bormatec Camflyer Q + +This file defines mixers suitable for controlling a delta wing aircraft using +PX4FMU. The configuration assumes the elevon servos are connected to PX4FMU +servo outputs 0 and 1 and the motor speed control to output 3. Output 2 is +assumed to be unused. + +Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0 +(roll), 1 (pitch) and 3 (thrust). + +See the README for more information on the scaler format. + +Elevon mixers +------------- +Three scalers total (output, roll, pitch). + +On the assumption that the two elevon servos are physically reversed, the pitch +input is inverted between the two servos. + +The scaling factor for roll inputs is adjusted to implement differential travel +for the elevons. + +M: 2 +O: 10000 10000 0 -10000 10000 +S: 0 0 -5000 -8000 0 -10000 10000 +S: 0 1 8000 8000 0 -10000 10000 + +M: 2 +O: 10000 10000 0 -10000 10000 +S: 0 0 -8000 -5000 0 -10000 10000 +S: 0 1 -8000 -8000 0 -10000 10000 + +Output 2 +-------- +This mixer is empty. + +Z: + +Motor speed mixer +----------------- +Two scalers total (output, thrust). + +This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1) +range. Inputs below zero are treated as zero. + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 3 0 20000 -10000 -10000 10000 + diff --git a/mk/PX4/ROMFS/mixers/FMU_RET.mix b/mk/PX4/ROMFS/mixers/FMU_RET.mix new file mode 100644 index 000000000..95beb8927 --- /dev/null +++ b/mk/PX4/ROMFS/mixers/FMU_RET.mix @@ -0,0 +1,53 @@ +Rudder/elevator/throttle mixer for PX4FMU +========================================= + +This file defines mixers suitable for controlling a fixed wing aircraft with +rudder, elevator and throttle controls using PX4FMU. The configuration assumes +the rudder servo is connected to PX4FMU servo output 0, the elevator to output 1 +and the throttle to output 3. + +Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0 +(roll), 1 (pitch) and 3 (thrust). + +Rudder mixer +------------ +Two scalers total (output, roll). + +This mixer assumes that the rudder servo is set up correctly mechanically; +depending on the actual configuration it may be necessary to reverse the scaling +factors (to reverse the servo movement) and adjust the offset, scaling and +endpoints to suit. + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 0 10000 10000 0 -10000 10000 + +Elevator mixer +------------ +Two scalers total (output, roll). + +This mixer assumes that the elevator servo is set up correctly mechanically; +depending on the actual configuration it may be necessary to reverse the scaling +factors (to reverse the servo movement) and adjust the offset, scaling and +endpoints to suit. + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 1 -10000 -10000 0 -10000 10000 + +Output 2 +-------- +This mixer is empty. + +Z: + +Motor speed mixer +----------------- +Two scalers total (output, thrust). + +This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1) +range. Inputs below zero are treated as zero. + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 3 0 20000 -10000 -10000 10000 diff --git a/mk/PX4/ROMFS/mixers/FMU_X5.mix b/mk/PX4/ROMFS/mixers/FMU_X5.mix new file mode 100644 index 000000000..9f81e1dc3 --- /dev/null +++ b/mk/PX4/ROMFS/mixers/FMU_X5.mix @@ -0,0 +1,50 @@ +Delta-wing mixer for PX4FMU +=========================== + +This file defines mixers suitable for controlling a delta wing aircraft using +PX4FMU. The configuration assumes the elevon servos are connected to PX4FMU +servo outputs 0 and 1 and the motor speed control to output 3. Output 2 is +assumed to be unused. + +Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0 +(roll), 1 (pitch) and 3 (thrust). + +See the README for more information on the scaler format. + +Elevon mixers +------------- +Three scalers total (output, roll, pitch). + +On the assumption that the two elevon servos are physically reversed, the pitch +input is inverted between the two servos. + +The scaling factor for roll inputs is adjusted to implement differential travel +for the elevons. + +M: 2 +O: 10000 10000 0 -10000 10000 +S: 0 0 -3000 -5000 0 -10000 10000 +S: 0 1 -5000 -5000 0 -10000 10000 + +M: 2 +O: 10000 10000 0 -10000 10000 +S: 0 0 -5000 -3000 0 -10000 10000 +S: 0 1 5000 5000 0 -10000 10000 + +Output 2 +-------- +This mixer is empty. + +Z: + +Motor speed mixer +----------------- +Two scalers total (output, thrust). + +This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1) +range. Inputs below zero are treated as zero. + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 3 0 20000 -10000 -10000 10000 + diff --git a/mk/PX4/ROMFS/mixers/FMU_delta.mix b/mk/PX4/ROMFS/mixers/FMU_delta.mix new file mode 100644 index 000000000..981466704 --- /dev/null +++ b/mk/PX4/ROMFS/mixers/FMU_delta.mix @@ -0,0 +1,50 @@ +Delta-wing mixer for PX4FMU +=========================== + +This file defines mixers suitable for controlling a delta wing aircraft using +PX4FMU. The configuration assumes the elevon servos are connected to PX4FMU +servo outputs 0 and 1 and the motor speed control to output 3. Output 2 is +assumed to be unused. + +Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0 +(roll), 1 (pitch) and 3 (thrust). + +See the README for more information on the scaler format. + +Elevon mixers +------------- +Three scalers total (output, roll, pitch). + +On the assumption that the two elevon servos are physically reversed, the pitch +input is inverted between the two servos. + +The scaling factor for roll inputs is adjusted to implement differential travel +for the elevons. + +M: 2 +O: 10000 10000 0 -10000 10000 +S: 0 0 3000 5000 0 -10000 10000 +S: 0 1 5000 5000 0 -10000 10000 + +M: 2 +O: 10000 10000 0 -10000 10000 +S: 0 0 5000 3000 0 -10000 10000 +S: 0 1 -5000 -5000 0 -10000 10000 + +Output 2 +-------- +This mixer is empty. + +Z: + +Motor speed mixer +----------------- +Two scalers total (output, thrust). + +This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1) +range. Inputs below zero are treated as zero. + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 3 0 20000 -10000 -10000 10000 + diff --git a/mk/PX4/ROMFS/mixers/FMU_hex_+.mix b/mk/PX4/ROMFS/mixers/FMU_hex_+.mix new file mode 100644 index 000000000..b5e38ce9e --- /dev/null +++ b/mk/PX4/ROMFS/mixers/FMU_hex_+.mix @@ -0,0 +1,7 @@ +Multirotor mixer for PX4FMU +=========================== + +This file defines a single mixer for a hexacopter in the + configuration. All controls +are mixed 100%. + +R: 6+ 10000 10000 10000 0 diff --git a/mk/PX4/ROMFS/mixers/FMU_hex_x.mix b/mk/PX4/ROMFS/mixers/FMU_hex_x.mix new file mode 100644 index 000000000..8e8d122ad --- /dev/null +++ b/mk/PX4/ROMFS/mixers/FMU_hex_x.mix @@ -0,0 +1,7 @@ +Multirotor mixer for PX4FMU +=========================== + +This file defines a single mixer for a hexacopter in the X configuration. All controls +are mixed 100%. + +R: 6x 10000 10000 10000 0 diff --git a/mk/PX4/ROMFS/mixers/FMU_octo_+.mix b/mk/PX4/ROMFS/mixers/FMU_octo_+.mix new file mode 100644 index 000000000..2cb70e814 --- /dev/null +++ b/mk/PX4/ROMFS/mixers/FMU_octo_+.mix @@ -0,0 +1,7 @@ +Multirotor mixer for PX4FMU +=========================== + +This file defines a single mixer for a octocopter in the + configuration. All controls +are mixed 100%. + +R: 8+ 10000 10000 10000 0 diff --git a/mk/PX4/ROMFS/mixers/FMU_octo_x.mix b/mk/PX4/ROMFS/mixers/FMU_octo_x.mix new file mode 100644 index 000000000..edc71f013 --- /dev/null +++ b/mk/PX4/ROMFS/mixers/FMU_octo_x.mix @@ -0,0 +1,7 @@ +Multirotor mixer for PX4FMU +=========================== + +This file defines a single mixer for a octocopter in the X configuration. All controls +are mixed 100%. + +R: 8x 10000 10000 10000 0 diff --git a/mk/PX4/ROMFS/mixers/FMU_quad_+.mix b/mk/PX4/ROMFS/mixers/FMU_quad_+.mix new file mode 100644 index 000000000..dfdf1d58e --- /dev/null +++ b/mk/PX4/ROMFS/mixers/FMU_quad_+.mix @@ -0,0 +1,7 @@ +Multirotor mixer for PX4FMU +=========================== + +This file defines a single mixer for a quadrotor in the + configuration. All controls +are mixed 100%. + +R: 4+ 10000 10000 10000 0 diff --git a/mk/PX4/ROMFS/mixers/FMU_quad_v.mix b/mk/PX4/ROMFS/mixers/FMU_quad_v.mix new file mode 100644 index 000000000..2a4a0f341 --- /dev/null +++ b/mk/PX4/ROMFS/mixers/FMU_quad_v.mix @@ -0,0 +1,7 @@ +Multirotor mixer for PX4FMU +=========================== + +This file defines a single mixer for a quadrotor in the V configuration. All controls +are mixed 100%. + +R: 4v 10000 10000 10000 0 diff --git a/mk/PX4/ROMFS/mixers/FMU_quad_x.mix b/mk/PX4/ROMFS/mixers/FMU_quad_x.mix new file mode 100644 index 000000000..12a3bee20 --- /dev/null +++ b/mk/PX4/ROMFS/mixers/FMU_quad_x.mix @@ -0,0 +1,7 @@ +Multirotor mixer for PX4FMU +=========================== + +This file defines a single mixer for a quadrotor in the X configuration. All controls +are mixed 100%. + +R: 4x 10000 10000 10000 0 -- GitLab